Initiation of vehicle remote park-assist with key fob

ABSTRACT

Method and apparatus are disclosed for initiation of vehicle remote park-assist with key fob. An example vehicle includes a cabin, a human-machine interface (HMI) unit located in the cabin, and a receiver-transceiver module. The receiver-transceiver module is configured to receive a return signal including a distance indicator from a key fob and a remote park-assist (RePA) signal. The example vehicle also includes an autonomy unit configured to perform RePA based on the RePA signal. The example vehicle also includes a controller configured to receive, via the HMI unit, selections to activate RePA and utilize the key fob for transmitting the RePA signal and determine, based on the distance indicator, whether the key fob is in the cabin. The controller also is configured to, responsive to determining that the key fob is in the cabin, prevent the autonomy unit from performing RePA.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to, the benefit of, and is acontinuation application of U.S. patent application Ser. No. 16/372,330,filed Apr. 1, 2019, which is hereby incorporated by reference herein inits entirety. This application is further related to U.S. patentapplication Ser. No. 16/372,335, filed on Apr. 1, 2019, and U.S. patentapplication Ser. No. 16/372,340, filed on Apr. 1, 2019, which are herebyincorporated by reference in their entireties.

TECHNICAL FIELD

The present disclosure generally relates to park-assist and, morespecifically, to initiation of vehicle remote park-assist with key fob.

BACKGROUND

Many vehicles include functions in which at least some motive functionsof a vehicle are autonomously controlled by the vehicle. For instance,some vehicles include cruise control in which the vehicle controlsacceleration and/or deceleration of the vehicle so that a speed of thevehicle is maintained. Further, some vehicles include park-assistfeatures in which the vehicle autonomously and/or semi-autonomouslycontrols motive functions of the vehicle to park the vehicle into aparking spot. For instance, some vehicles include a remote park-assistsystem that enables a user to initiate park-assist features from aremote location.

SUMMARY

The appended claims define this application. The present disclosuresummarizes aspects of the embodiments and should not be used to limitthe claims. Other implementations are contemplated in accordance withthe techniques described herein, as will be apparent to one havingordinary skill in the art upon examination of the following drawings anddetailed description, and these implementations are intended to bewithin the scope of this application.

Example embodiments are shown for initiation of vehicle remotepark-assist with key fob. An example disclosed vehicle includes a cabin,a human-machine interface (HMI) unit located in the cabin, and areceiver-transceiver module. The receiver-transceiver module isconfigured to receive a return signal including a distance indicatorfrom a key fob and a remote park-assist (RePA) signal. The exampledisclosed vehicle also includes an autonomy unit configured to performRePA based on the RePA signal. The example disclosed vehicle alsoincludes a controller configured to receive, via the HMI unit,selections to activate RePA and utilize the key fob for transmitting theRePA signal and determine, based on the distance indicator, whether thekey fob is in the cabin. The controller also is configured to,responsive to determining that the key fob is in the cabin, prevent theautonomy unit from performing RePA.

An example disclosed method for initiating remote park-assist (RePA) fora vehicle includes receiving, via a human-machine interface (HMI) unitlocated in a cabin, selections to activate RePA and utilize a key fobfor transmitting a RePA signal. The example disclosed method alsoincludes receiving, via a receiver-transceiver module, a return signalfrom the key fob and identifying, via a processor, a distance indicatorwithin the return signal. The example disclosed method also includesdetermining, via the processor, whether the key fob is in the cabinbased on the distance indicator and preventing an autonomy unit fromperforming RePA responsive to determining that the key fob is in thecabin.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the invention, reference may be made toembodiments shown in the following drawings. The components in thedrawings are not necessarily to scale and related elements may beomitted, or in some instances proportions may have been exaggerated, soas to emphasize and clearly illustrate the novel features describedherein. In addition, system components can be variously arranged, asknown in the art. Further, in the drawings, like reference numeralsdesignate corresponding parts throughout the several views.

FIG. 1 illustrates a vehicle and a key fob in accordance with theteachings herein.

FIG. 2 depicts an example of the key fob of FIG. 1.

FIG. 3 illustrates a cabin of the vehicle of FIG. 1.

FIG. 4 depicts an interface presented via a display of the vehicle ofFIG. 1.

FIG. 5A illustrates accent lamps of the vehicle of FIG. 1 emitting anexample alert for remote park-assist.

FIG. 5B illustrates the accent lamps of FIG. 5B emitting another examplealert for remote park-assist.

FIG. 6 is a block diagram of electronic components of the vehicle ofFIG. 1.

FIG. 7 is a block diagram of electronic components of the key fob ofFIG. 1.

FIG. 8 is a flowchart for initiating remote park-assist for vehicle witha key fob in accordance with the teachings herein.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

While the invention may be embodied in various forms, there are shown inthe drawings, and will hereinafter be described, some exemplary andnon-limiting embodiments, with the understanding that the presentdisclosure is to be considered an exemplification of the invention andis not intended to limit the invention to the specific embodimentsillustrated.

Many vehicles include functions in which at least some motive functionsof a vehicle are autonomously controlled by the vehicle. For instance,some vehicles include cruise control in which the vehicle controlsacceleration and/or deceleration of the vehicle so that a speed of thevehicle is maintained. Further, some vehicles include park-assistfeatures in which the vehicle autonomously and/or semi-autonomouslycontrols motive functions of the vehicle to park the vehicle into aparking spot. For instance, some vehicles include a remote park-assistsystem that enables a user to initiate park-assist features from aremote location.

Some remote park-assist systems use both a key fob and a mobile device(a smart phone, a wearable, a smart watch, a tablet, etc.) carried by auser of the vehicle. In some instances, the remote park-assist systemuses the key fob to localize and/or determine a distance to the userrelative to the vehicle and uses the mobile device to send signals toinitiate park-assist motive functions of the vehicle. For instance, thekey fob may potentially be used for accurately determining a distancebetween the user and the vehicle based on low-frequency communication.Further, the mobile device may potentially be used to initiate thepark-assist motive functions to facilitate the simultaneous localizationof the user and sending of park-assist instructions. An example remotepark-assist system that utilizes both a key fob and a mobile devicecarried by a user of a vehicle is disclosed in further detail in U.S.application Ser. No. 15/948,428, filed on Apr. 9, 2018, which isincorporated by reference in its entirety. In some such instances, themobile device potentially may be unavailable for remote park-assist use.For instance, the mobile device may have been misplaced by the userand/or have a discharged battery. Further, some users potentially mayfind it burdensome to carry two devices, namely the key fob and themobile device, to initiate remote park-assist for a vehicle.

Example methods and apparatus disclosed herein include a remotepark-assist (RePA) system that enables a key fob to be used for both thelocalization of a user and the sending of signals to initiatepark-assist motive functions. The RePA system is configured to beactivated by a user via a human-machine interface (e.g., a touchscreen)within a cabin of the vehicle. Further, the RePA system enables the userto select, via the human-machine interface, which remote device, namelya mobile device (e.g., a smart phone, a wearable, a smart watch, atablet, etc.) or a key fob, is to be utilized for sending RePA signalsto the vehicle. If the user selects the key fob via the human-machineinterface, the human-machine interface presents instructions to the userfor sending RePA signals to the vehicle via the key fob. In someexamples, the human-machine interface presents an interface that enablesthe user to designate or assign vehicle features to correspondingcombinations of buttons of the key fob. For example, the user may assigna certain combination of buttons to perform a frequently used RePAmaneuver, designate settings for a maneuver, and/or change how tocommand basic vehicle movements such as forward and reverse. Further, insome examples, the human-machine interface presents instructions to theuser for selecting which buttons of the key fob to choose when assigningsimultaneous button presses or a sequence of button presses for acorresponding RePA function. Additionally, or alternatively, the RePAsystem (1) enables RePA to be performed in response to determining thatthe key fob is located outside of the vehicle cabin and (2) preventsRePA from being performed in response to determining that the key fob islocated within the vehicle cabin. Further, in some examples, the RePAsystem emits an alert to the user (e.g., via headlamps, tail lamps,horns, accent lamps, key fob LEDs, etc.) based on a current statussignal of RePA.

As used herein, a “key fob” refers to a dedicated electronic remotedevice that wirelessly communicates with a vehicle to unlock and/or lockvehicle door(s), unlatch the vehicle door(s), open and/or close thevehicle door(s), activate an engine of the vehicle, and/or control otherfunction(s) of the vehicle. As used herein, a “mobile device” refers toan electronic remote device that is configured to (1) wirelesslycommunicate with a vehicle to control vehicle function(s) and (2)wirelessly communicate with other device(s) to controlnon-vehicle-related functions. Example mobile devices include a smartphone, a wearable, a smart watch, a tablet, etc.

As used herein, “vehicle park-assist” and “park-assist” refer to asystem in which a vehicle controls its motive functions, without directsteering or velocity input from an operator (e.g., a driver), toautonomously park within a parking spot. For example, an autonomy unitof a park-assist system controls the motive functions of the vehicleupon receiving an initiation signal from the operator. As used herein,“remote parking,” “vehicle remote park-assist,” “remote park-assist,”and “RePA” refer to a system in which a vehicle controls its motivefunctions, without direct steering or velocity input from an operator(e.g., a driver), to autonomously park within a parking spot while theoperator is located outside of the vehicle. For example, an autonomyunit of a remote park-assist system controls the motive functions of thevehicle upon receiving a remote initiation signal from a mobile deviceof the operator.

As used herein, “remote entry,” “remote keyless entry,” and “RKE” referto a vehicle system that unlocks and/or opens one or more doors of avehicle in response to receiving a signal to do so from an authorizedremote device (e.g., a key fob, a mobile device). As used herein,“remote start” refers to a vehicle system that starts or activates anengine of a vehicle in response to receiving a signal to do so from anauthorized remote device (e.g., a key fob, a mobile device).

Turning to the figures, FIG. 1 illustrates an example vehicle 100 inaccordance with the teachings herein. The vehicle 100 may be a standardgasoline powered vehicle, a hybrid vehicle, an electric vehicle, a fuelcell vehicle, and/or any other mobility implement type of vehicle. Thevehicle 100 includes parts related to mobility, such as a powertrainwith an engine, a transmission, a suspension, a driveshaft, and/orwheels, etc. The vehicle 100 may be semi-autonomous (e.g., some routinemotive functions controlled by the vehicle 100) and/or autonomous (e.g.,motive functions are controlled by the vehicle 100 without direct driverinput).

In the illustrated example, the vehicle 100 includes headlamps 102located at a front of the vehicle 100 and tail lamps 104 located at arear of the vehicle 100. When activated, the headlamps 102 emitheadlights that illuminate a portion of a road in front of the vehicle100 to enable a vehicle operator (e.g., a driver) to see in front of thevehicle 100 in low-light conditions (e.g., nighttime). In some examples,each of the headlamps 102 includes (i) a low-beam headlamp to illuminatea side of a road along which the vehicle 100 is travelling and (ii) ahigh-beam headlamp to illuminate a greater portion of the road. Further,the tail lamps 104 are activated to warn others when the vehicle 100 isbraking, turning, etc. Additionally, or alternatively, the headlamps 102and tail lamps 104 are activated to facilitate another vehicle (e.g., atrailing vehicle, an oncoming vehicle, etc.) to view the vehicle 100 inlow-light conditions.

Further, the vehicle of the illustrated example includes one or more lowfrequency (LF) modules 106 and a receiver-transceiver module 108. Eachof the LF modules 106 and the receiver-transceiver module 108 includeshardware (e.g., processors, memory, storage, antenna, etc.) and softwareto control wireless network interfaces. For example, the LF modules 106include hardware and software to communicate via LF signals (e.g., 125kHz to 134.5 kHz, etc.), and the receiver-transceiver module 108 includehardware and software to communicate via ultra-high frequency (UHF)signals and/or other medium-frequency signals (e.g., 314 MHz to 904 MHz,etc.). As disclosed below in greater detail below, the LF modules 106and the receiver-transceiver module 108 are configured to wirelesslycommunicate with a key fob 110 of a user 112 to determine a distancebetween the key fob 110 and the vehicle 100.

Further, in the illustrated example, the vehicle 100 of the illustratedexample includes a communication module 114 and antenna modules 116 thatare configured for wireless communication with the key fob 110 of theuser 112. For example, the key fob 110 and/or a mobile device (a smartphone, a wearable, a smart watch, a tablet, etc.) is configured tocommunicate with the communication module 114 and antenna modules 116 toinitiate vehicle functions, such as passive entry, passive start, remoteentry, remote start, remote park-assist, etc. Further, in some examples,the communication module 114 and the antenna modules 116 are configuredto localize the key fob 110 for initiation of one or more of the vehiclefunction(s).

The antenna modules 116 include hardware (e.g., processors, memory,storage, antenna, etc.) and software to control wireless networkinterface(s). For example, the antenna modules 116 are configured forpersonal or local area wireless network protocols (e.g., Bluetooth®,Bluetooth® Low Energy (BLE), Zigbee®, Z-Wave®, etc.). In some examples,the antenna modules 116 may be referred to as “BLE Antenna Modules(BLEAMs)” when the antenna modules 116 are configured to implement BLEcommunication. In some examples, the antenna modules 116 communicativelycouple to a remote device (e.g., the key fob 110, a mobile device) andmeasure and/or receive measurements of the signal strength of thesignals (e.g., received signal strength indicators) broadcast by theremote device to facilitate determining a distance to and/or a locationof the remote device relative to the vehicle 100. Further, in someexamples, one or more of the antenna modules 116 are located inside acabin of the vehicle 100 to determine when a remote device is within thecabin and/or to localize the remote device within the cabin (e.g., toenable passive start of the vehicle 100).

The communication module 114 is communicatively coupled to the antennamodules 116. For example, the communication module 114 iscommunicatively coupled to the antenna modules 116 to track a distanceto and/or a location of a remote device (e.g., the key fob 110, a mobiledevice) relative to the vehicle 100. The communication module 114 may bereferred to as a “BLE Module (BLEM)” when the antenna modules 116 areconfigured to implement BLE communication. In some examples, thecommunication module 114 is configured to receive and analyze the signalstrength measurements (e.g., received signal strength indicators)between the antenna modules 116 and a remote device. Based on thesemeasurements, the communication module 114 determines a location of theremote device relative to the vehicle 100 to facilitate initiation ofone or more vehicle functions. For example, a passive entry function isinitiated upon the communication module 114 determining that the remotedevice is near a vehicle door and/or a passive start function isinitiated upon the communication module 114 determining that the remotedevice is within the cabin of the vehicle 100.

The vehicle 100 of the illustrated example also includes an autonomyunit 118. The autonomy unit 118 is an electronic control unit that isconfigured to perform autonomous and/or semi-autonomous motive functionsfor the vehicle 100. For example, the autonomy unit 118 is configured tocontrol performance of autonomous and/or semi-autonomous drivingmaneuvers of the vehicle 100 based upon, at least in part, datacollected by range-detection sensors of the vehicle 100 (e.g.,range-detection sensors 620 of FIG. 6). In the illustrated example, theautonomy unit 118 controls performance of autonomous and/orsemi-autonomous driving maneuvers for remote park-assist of the vehicle100.

In the illustrated example, the vehicle 100 also includes a commandcontroller 120. For example, the command controller 120 is configured toidentify and process signals collected from the key fob 110 and/or amobile device of the user 112 by communication module(s) of the vehicle100 (e.g., the LF modules 106, the receiver-transceiver module 108, thecommunication module 114, the antenna modules 116).

In operation, the key fob 110 is utilized to initiate remote park-assistand/or other vehicle functions of the vehicle 100. For example, thevehicle 100 of the illustrated example is permitted to autonomouslyperform motive functions for remote park-assist when the user 112 iswithin a tethering range 122 of the vehicle 100 and is prohibited fromautonomously performing the motive functions when the user 112 isoutside of the tethering range 122. For instance, some governments haveinstituted regulations that require the user 112 be within the tetheringrange 122 of the vehicle 100 while the vehicle 100 is autonomouslyperforming remote park-assist motive functions. The tethering range 122of the illustrated example is defined to extend to a predetermineddistance (e.g., 6 meters) from an exterior surface of the vehicle 100.The user 112 is within the tethering range 122 of the vehicle 100 if adistance between the user 112 and the exterior surface of the vehicle100 is less than or equal to the predetermined distance of the tetheringrange 122.

As used herein, to “tether” refers to authenticating a key fob and/ormobile device and its distance to a vehicle to initiate remote parkingfor the vehicle. For example, a vehicle is configured to perform remoteparking upon receiving instruction(s) to do so from a key fob and/ormobile device that is tethered to the vehicle and is configured to notperform remote parking upon receiving instruction(s) from a key foband/or mobile device that is untethered from the vehicle. As usedherein, a “tethered” device refers to a key fob and/or a mobile devicethat is enabled to send instructions to a vehicle to perform remoteparking. For example, a key fob and/or mobile device is tethered to avehicle responsive to the key fob and/or mobile device being wirelesslycommunicatively coupled to the vehicle and located within apredetermined tethering range (e.g., 6 meters) of the vehicle. In suchexamples, a key fob and/or mobile device that sends instructions to avehicle to perform remote parking is untethered from the vehicle if thekey fob and/or mobile device is beyond the tethering range of thevehicle.

In some examples, a remote park-assist system utilizes both the key fob110 and a mobile device (a smart phone, a wearable, a smart watch, atablet, etc.) carried by the user 112 to initiate remote park-assist forthe vehicle 100. For example, the command controller 120 utilizescommunication with the key fob 110 to determine the distance between theuser 112 and the vehicle and utilizes communication with the mobiledevice for receiving remote park-assist signals from the user 112. Thecommand controller 120 utilizes communication between the key fob 110and the LF modules 106 and/or the receiver-transceiver module 108 todetermine the distance between the vehicle 100 and the key fob 110. Forexample, the command controller 120 determines the distance between theuser 112 and the vehicle 100 based upon low-frequency communicationbetween the key fob 110 and the LF modules 106 rather than the wirelesscommunication with the mobile device, because calculating a distancebased upon a received signal strength indicator (RSSI) of low-frequencycommunication is more accurate than calculating a distance based upon anRSSI of BLE, Wi-Fi, and/or communication signals with similar samplerates. That is, because the key fob 110 has an LF antenna (e.g., an LFantenna 708 of FIG. 7) for low-frequency communication, the commandcontroller 120 utilizes the RSSI of communication with the key fob 110to approximate a distance between the user 112 and the vehicle 100.

Further, in some examples, the communication between the key fob 110 andthe vehicle 100 to determine the distance between the two isasymmetrical. For example, one or more of the LF modules 106 transmits abeacon in the form of a LF signal to prompt the key fob 110 to send areturn signal. Upon receiving the beacon from one or more of the LFmodules 106, the key fob 110 (e.g., via a processor 702 of FIG. 7)determines a distance indicator (a received signal strength indicator orRSSI) for the received beacon. Further, the key fob 110 (e.g., via theprocessor 702) includes the distance indicator in the return signal.Subsequently, the receiver-transceiver module 108 receives the returnsignal from the key fob 110, for example, in the form of a UHF signaland determines the distance between the vehicle 100 and the key fob 110based on the distance identifier within the return signal. Further, insome examples, the return signal includes an authentication token (e.g.,an encrypted identifier, an encrypted counter, etc.) to enable thecommand controller 120 to determine whether the key fob 110 isauthorized for communication with the vehicle 100.

Further, the command controller 120 is configured to utilizecommunication between the mobile device and the antenna modules 116and/or the receiver-transceiver module 108 to receive signals forinitiating RePA from the user 112. Because the mobile device hasantenna(s) for BLE, Wi-Fi, ultra-wideband (UWB), and/or othercommunication protocol(s), the command controller 120 utilizes theantenna modules 116 and/or the receiver-transceiver module 108 toreceive RePA signal(s) from the mobile device via BLE, Wi-Fi, UWB,and/or other communication protocol(s). By utilizing (1) communicationwith the key fob 110 to determine a distance to the user 112 and (2)communication with the mobile device to receive signals for initiatingRePA functions, the command controller 120 is able to simultaneouslydetermine the distance to the user 112 and receiving RePA signals.

Additionally, or alternatively, the key fob 110 of the illustratedexample is configured to be utilized for both (1) determining thedistance to the user 112 and (2) sending signals to initiate RePAfunctions. For example, the key fob 110 is configured to send signals tothe vehicle 100 to initiate RePA functions upon communicating with thevehicle 100 to determine the distance between the key fob 110 and thevehicle 100. In some examples, the remote park-assist system of thevehicle 100 utilizes the key fob 110 to send RePA signals if the mobiledevice has been misplaced by the user 112 and/or has a dischargedbattery. That is, the key fob 110 of the illustrated example isconfigured to be utilized as a backup remote device for initiatingperformance of RePA for the vehicle 100. Additionally, or alternatively,the remote park-assist system of the vehicle 100 may utilize the key fob110 to send RePA signals if the user 112 prefers carrying only a singleremote device for initiating performance of RePA for the vehicle 100.

Further, in operation, the command controller 120 is configured toenable the user 112 to activate the RePA system of the vehicle 100 via ahuman-machine interface (HMI) unit within a cabin of the vehicle 100(e.g., via an HMI unit 606 of FIG. 6 within a cabin 300 of FIG. 3). Forexample, the command controller 120 enables the user 112 to activate theRePA system of the vehicle 100 via a touchscreen of the vehicle 100(e.g., via a display 302 of the FIG. 3). The command controller 120 alsois configured to enable the user 112 to select which remote device, suchas the key fob 110 or a mobile device (e.g., a smart phone, a wearable,a smart watch, a tablet, etc.), is to be utilized for initiating RePAfunctions for the vehicle 100. For example, the touchscreen and/oranother input device of the HMI unit enables the user 112 to selectwhether the user 112 will utilize (1) a mobile device for initiatingRePA functions or (2) the key fob 110 as a backup RePA device fortemporarily initiating RePA functions.

Additionally, or alternatively, the command controller 120 is configuredto enable and/or disable performance of RePA once the RePA system isactivated. For example, the command controller 120 is configured toenable and/or disable RePA based on a location of the key fob 110. Thecommand controller 120 is configured to temporarily disable RePA inresponse to determining that the key fob 110 is located within the cabinof the vehicle 100. That is, the command controller 120 is configured toprevent the user 112 from initiating RePA functions from within thecabin of the vehicle 100. The command controller 120 also is configuredto temporarily disable RePA in response to determining that the key fob110 is located beyond the tethering range 122 of the vehicle 100.Further, the command controller 120 is configured to enable RePA inresponse to determining that the key fob 110 is located both outside ofthe cabin and within the tethering range 122 of the vehicle 100.Further, in some examples, the command controller 120 is configured toemit an alert to the user 112 via output device(s) of the vehicle 100and/or the key fob 110 based on a current status of RePA to inform theuser 112 regarding the performance of RePA.

FIG. 2 depicts an example key fob 200 in accordance with the teachingsherein. That is, the key fob 200 is an example of the key fob 110 ofFIG. 1. As illustrated in FIG. 2, the key fob 200 includes a pluralityof buttons. For example, the key fob 200 includes an unlock button 202and a lock button 204.

When the unlock button 202 is pressed by the user 112, the key fob 110is configured to send an unlock signal to the vehicle 100 to unlock oneor more locked doors of the vehicle 100 (e.g., via door control units632 of FIG. 6). For example, when the unlock button 202 is pressed once,the key fob 110 is configured to send a first unlock signal to thevehicle 100 to unlock the driver's door of the vehicle 100. When theunlock button 202 is pressed twice within a predetermined period of time(e.g., 3 seconds), the key fob 110 is configured to send a second unlocksignal to the vehicle 100 to unlock all of the doors of the vehicle 100.Further, in some examples, when the unlock button 202 is held for apredetermined period of time (e.g., 4 seconds), the key fob 110 isconfigured to send an open signal to the vehicle 100 to open one or morewindows of the vehicle 100 (e.g., via the door control units 632).

When the lock button 204 is pressed by the user 112, the key fob 110 isconfigured to send a lock signal to the vehicle 100 to lock unlockeddoor(s) of the vehicle 100 (e.g., via the door control units 632). Forexample, when the lock button 204 is pressed once, the key fob 110 isconfigured to send a lock signal to the vehicle 100 to lock the doors ofthe vehicle 100. When the lock button 204 is pressed twice within apredetermined period of time (e.g., 3 seconds), the command controller120 causes (e.g., via a body control module 628 of FIG. 6) a speakerand/or horn of the vehicle 100 to emit a chirp alert. Further, in someexamples, the command controller 120 causes lights to flash upon thefirst pressing of the lock button 204 and/or the doors locking.Additionally, or alternatively, when the lock button 204 is held for apredetermined period of time (e.g., 4 seconds), the key fob 110 isconfigured to send a close signal to the vehicle 100 to close one ormore windows of the vehicle 100 (e.g., via the door control units 632).

The key fob 200 of the illustrated example also includes a triggerbutton 206 (sometimes referred to as a “2×” button). The trigger button206, in combination with the other buttons of the key fob 200, isconfigured to trigger other vehicle functions of the vehicle 100. Forexample, when the lock button 204 is pressed once and the trigger button206 is subsequently pressed twice in succession, the key fob 110 isconfigured to send a remote-start signal to the vehicle 100 to remotestart an engine of the vehicle 100 (e.g., via an engine control unit 630of FIG. 6). Further, in some examples when remote-start is active, thekey fob 110 is configured to send a remote-start stop signal when thetrigger button 206 is pressed only once within a predetermined period oftime. Additionally, or alternatively, when the unlock button 202 ispressed once and the trigger button 206 is subsequently pressed twice insuccession, the key fob 110 is configured to send a RePA signal to thevehicle 100 to initiate RePA for the vehicle 100 (e.g., via the autonomyunit 118).

In the illustrated example, the key fob 200 also includes a hatch button208, an alert button 210 (sometimes referred to as a panic button), anda lamp 212 (e.g., a light emitting diode or LED). The hatch button 208(sometimes referred to as a trunk button or a liftgate button) isconfigured to initiate opening and/or closing a hatch, a liftgate, adeck lid, a trunk, and/or trunk of the vehicle 100. For example, whenthe hatch button 208 is pressed twice within a predetermined period oftime (e.g., 3 seconds), the key fob 110 is configured to send a hatchsignal to actuate the hatch of the vehicle 100. When the hatch isclosed, the vehicle 100 (e.g., via a body control module 628 of FIG. 6)is to open the hatch upon receiving the hatch signal. Further, in someexamples when the hatch is open, the vehicle 100 (e.g., via the bodycontrol module 628) is to close the hatch upon receiving the hatchsignal. The alert button 210 (sometimes referred to as a panic button)is configured to initiate an alert (e.g., an audio and/or visual alert)of the vehicle 100. For example, when the alert button 210 is pressed bythe user 112, the key fob 110 is configured to send alert signal to thevehicle 100 to emit the alert. Further, the lamp 212 is configured toemit alert(s) to the user 112 regarding the status of vehiclefunction(s) initiated via the key fob 110. For example, the lamp 212emits different colors (e.g., red, green) and/or a different sequences(e.g., different combinations of dots and dashes) to emit differentalerts to the user 112.

FIG. 3 illustrates a cabin 300 of the vehicle 100. In the illustratedexample, a display 302 and console input devices 304 are located withinthe cabin 300 of the vehicle 100. For example, the display 302 and theconsole input devices 304 are located on a dashboard, a center console,and/or another console of the vehicle 100 that is adjacent to a driver'sseat within the cabin 300 to facilitate a vehicle operator (e.g., adriver) in utilizing the display 302 and the console input devices 304.

In the illustrated example, the console input devices 304 include inputdevice(s), such as switches, buttons, etc., that enable the vehicleoperator and/or a passenger to control various features of the vehicle100. Further, the display 302 of the illustrated example includes acenter console display, such as a liquid crystal display (LCD), anorganic light emitting diode (OLED) display, a flat panel display, asolid state display, etc. Additionally, or alternatively, the display302 includes a heads-up display that is configured to project an imageonto a windshield of the vehicle 100. In some examples, the display 302is a touchscreen that is configured to receive input information fromthe user 112. Further, in some examples, the console input devices 304are configured to receive input information that corresponds with outputinformation being presented via the display 302.

In operation, the command controller 120 is configured to receive aninput from the user 112 to activate RePA. For example, the commandcontroller 120 receives a selection to activate RePA from ahuman-machine interface (e.g., a touchscreen such as the display 302,the console input devices, 304, a cabin microphone, etc.) of ahuman-machine interface (HMI) unit of the vehicle 100. Subsequently, thecommand controller 120 is configured to receive a selection of whichremote device is to be used by the user 112 for sending RePA signals tothe vehicle 100. That is, the command controller 120 receives aselection, via the HMI unit, of whether the user 112 will use a mobiledevice (a smart phone, a wearable, a smart watch, a tablet, etc.) or thekey fob 110 to send RePA instructions. For example, the user 112 mayselect to use the key fob 110 as a backup RePA device if the mobiledevice is misplaced and/or discharged.

In response to the receiving a selection of the key fob 110, the commandcontroller 120 is configured to cause the HMI unit to presentinstructions that inform the user 112 as to how to utilize the key fob110 to send RePA signals via the key fob 110. For example, the display302 presents an interface (e.g., an interface 400 of FIG. 4) thatincludes the instructions and/or speakers (e.g., speakers 626 of FIG. 6)audibly emit the instructions to the user 112.

Further, upon activation, the command controller 120 is configured toenable and/or disable the autonomy unit 118 from performing RePA basedon the location of the key fob 110. For example, the command controller120 is configured to determine whether the key fob 110 is located withinthe cabin 300, beyond the tethering range 122, or outside of the cabin300 within the tethering range 122 based on the distance indicatorcollected from the key fob 110. The command controller 120 is configuredto prevent the user 112 from initiating RePA functions responsive todetermining that the key fob 110 is located within the cabin of thevehicle 100. The command controller 120 also is configured totemporarily disable RePA in response to determining that the key fob 110is located beyond the tethering range 122 of the vehicle 100. Further,the command controller 120 is configured to enable RePA in response todetermining that the key fob 110 is located both outside of the cabin300 and within the tethering range 122 of the vehicle 100.

FIG. 4 depict an example interface 400 that is presented via the display302 of the vehicle 100. As illustrated in FIG. 4, the interface 400provides instructions to the user 112 regarding how to utilize the keyfob 110 for initiating RePA function(s). In some examples, the commandcontroller 120 presents the interface 400 via the display 302 and/or anyother display in response to receiving a selection from the user 112 forutilizing the key fob 110 as a backup RePA device. In some examples, thecommand controller 120 is configured to present the interface 400 via animage sent to the mobile device of the user 112 as a tutorial for use ata later date. Further, in some examples, the command controller 120 isconfigured to present the interface 400 to the user 112 via an email.

In the illustrated example, the interface 400 includes a fobrepresentation 402 of the key fob 110 and button representations 404 ofbuttons of the key fob 110. Further, the interface 400 includes symbols406 that identify non-RePA functions for the buttons of the key fob 110.For example, a button representation of the unlock button 202 includesan unlock symbol to indicate that the unlock button 202 corresponds withan unlock feature, a button representation of the lock button 204includes a lock symbol to indicate that the lock button 204 correspondswith a lock feature, etc. The interface 400 also includes symbols 408that identify RePA and/or remote start functions for the buttons of thekey fob 110. For example, the symbols indicate that (1) the unlockbutton 202 corresponds with initiating a forward RePA motion, (2) thelock button 204 corresponds with initiating a reverse RePA motion, (3)the trigger button 206 corresponds with initiating RePA and/or remotestart, and (4) the alert button 210 corresponds with initiating aforward and/or reverse RePA motion. Further, in the illustrated example,the interface 400 includes instructions 410 that identify buttoncombination of the key fob 110 for initiating RePA and/or remote startfunctions (e.g., initiating RePA, initiating a forward motion,initiating a reverse motion, deactivating RePA, etc.).

FIGS. 5A-5B depict a side view of the vehicle 100. As illustrated inFIG. 5A, the vehicle 100 includes doors 500, 502 and correspondingwindows 504, 506. In the illustrated example, each of the windows 504,506 is an electrochromic window (e.g., a window that includes anelectrochromic glazing) that is configured to change light transmissionproperties when an electric current is applied. In some examples, thewindows 504, 506 are fully transparent when no current is applied andbecome tinted when current is applied. In the illustrated example, atint module 508 of the door 500 is configured to (1) untint the window504 by not applying a current to the window 504 when the engine of thevehicle 100 is activated and (2) tint the window 504 by applying acurrent to the window 504 when the engine is inactive. A tint module 509of the door 502 is configured to untint the window 506 by not applying acurrent when the engine is activated and tint the window 506 by notapplying a current when the engine is inactive. Further, when RePA isinitiated, the command controller 120 is configured to cause the tintmodule 508 of the door 500 to untint the window 504 (e.g., to enable theuser 112 to see that no one is located in the driver's seat).

As illustrated in FIGS. 5A-5B, the vehicle 100 also includes accentlamps 510 that are configured to emit a visual alert 512 on a groundsurface adjacent to the vehicle 100. In FIG. 5A, the visual alert 512emitted by the accent lamps 510 is configured to alert the user 112 thatan object is located along a projected travel path of the vehicle 100during a RePA motive function, for example, by displaying a word orphrase explaining the nature of the visual alert 512. Additionally, oralternatively, the command controller 120 is configured to emit thevisual alert 512 to inform the user 112 of other RePA status updates,such as (1) verifying that a transmission of the vehicle 100 is in park,(2) identifying that an ignition is activated upon determining that theignition was inactive, (3) identifying that an engine is activated upondetermining that the engine was inactive, (4) identifying that asteering column is unlocked upon determining that the steering columnwas locked, (5) identifying that RePA initiation was performed, (6)identifying that RePA initiation was unable to be performed, (7)identifying that RePA cancelation was performed, (8) identifying thatRePA cancelation was unable to be performed, (9) identifying that thekey fob 110 is being utilized as a backup RePA device, (10) detecting anattempt to initiate RePA from within the cabin 300 of the vehicle 100,(11) detecting that a vehicle door is open, (12) detecting that a brakepedal has been pressed, (13) detecting that an acceleration pedal hasbeen pressed, (14) detecting that movement of a steering wheel has beenobstructed, etc.

Further, the accent lamps 510 of the illustrated example are configuredto provide other information to the user 112. For example, in FIG. 5B,the visual alert 512 emitted by the accent lamps 510 is configured toinform the user 112 of the travel speed of the vehicle 100 during theRePA motive function. In the illustrated example, the visual alert 512is an animated alert in which more arrows of the visual alert 512 becomeilluminated as the vehicle 100 accelerates. Additionally, oralternatively, the command controller 120 is configured to emit an alertto the user 112 regarding the RePA status via other output devices ofthe vehicle 100 and/or the key fob 110. For example, the commandcontroller 120 is configured to emit a visual alert via the headlamps102, the tail lamps 104, and/or the display 302. In some examples, thecommand controller 120 is configured to emit an audio alert via a horn(e.g., a horn 622 and/or a chirp horn 624 of FIG. 6) and/or speakers(e.g., speakers 626 of FIG. 6) of the vehicle 100. In some otherexamples the command controller 120 is configured to cause speakers toemit verbal alerts and/or explanations (e.g., to further explain thenature of the visual alert 512 to the user 112). Further, in someexamples, the command controller 120 is configured to send aninstruction to the key fob 110 to emit a visual alert (e.g., via thelamp 212), an audio alert (e.g., via a speaker), and/or a haptic alert(e.g., via a haptic device).

FIG. 6 is a block diagram of electronic components 600 of the vehicle100. In the illustrated example, the electronic components 600 includean onboard computing platform 602, communication modules 604, ahuman-machine interface (HMI) 606, sensors 608, output devices 610,electronic control units (ECUs) 612, and a vehicle data bus 614.

The onboard computing platform 602 includes a processor 616 (alsoreferred to as a microcontroller unit and a controller) and memory 618.In the illustrated example, the processor 616 of the onboard computingplatform 602 is structured to include the command controller 120. Inother examples, the command controller 120 is incorporated into anotherECU with its own processor and memory. The processor 616 may be anysuitable processing device or set of processing devices such as, but notlimited to, a microprocessor, a microcontroller-based platform, anintegrated circuit, one or more field programmable gate arrays (FPGAs),and/or one or more application-specific integrated circuits (ASICs). Thememory 618 may be volatile memory (e.g., RAM including non-volatile RAM,magnetic RAM, ferroelectric RAM, etc.), non-volatile memory (e.g., diskmemory, FLASH memory, EPROMs, EEPROMs, memristor-based non-volatilesolid-state memory, etc.), unalterable memory (e.g., EPROMs), read-onlymemory, and/or high-capacity storage devices (e.g., hard drives, solidstate drives, etc.). In some examples, the memory 618 includes multiplekinds of memory, particularly volatile memory and non-volatile memory.

The memory 618 is computer readable media on which one or more sets ofinstructions, such as the software for operating the methods of thepresent disclosure, can be embedded. The instructions may embody one ormore of the methods or logic as described herein. For example, theinstructions reside completely, or at least partially, within any one ormore of the memory 618, the computer readable medium, and/or within theprocessor 616 during execution of the instructions.

The terms “non-transitory computer-readable medium” and“computer-readable medium” include a single medium or multiple media,such as a centralized or distributed database, and/or associated cachesand servers that store one or more sets of instructions. Further, theterms “non-transitory computer-readable medium” and “computer-readablemedium” include any tangible medium that is capable of storing, encodingor carrying a set of instructions for execution by a processor or thatcause a system to perform any one or more of the methods or operationsdisclosed herein. As used herein, the term “computer readable medium” isexpressly defined to include any type of computer readable storagedevice and/or storage disk and to exclude propagating signals.

The communication modules 604 are configured to wirelessly communicatewith the key fob 110 and/or another device. In the illustrated example,the communication modules 604 include the LF modules 106 that areconfigured for LF communication, the receiver-transceiver module 108that is configured for UHF and/or other medium-frequency communication,and the communication module 114 and the antenna modules 116 that areconfigured for BLE communication.

The HMI unit 606 provides an interface between the vehicle 100 and theuser 112. The HMI unit 606 includes digital and/or analog interfaces(e.g., input devices and output devices) to receive input from anddisplay information for the user(s). The input devices include theconsole input devices 304 and/or other input devices, such as a controlknob, an instrument panel, a digital camera for image capture and/orvisual command recognition, a touchscreen, an audio input device (e.g.,cabin microphone), buttons, or a touchpad. The output devices includethe display 302 and/or other output device(s), such as instrumentcluster outputs (e.g., dials, lighting devices), actuators, etc. In theillustrated example, the HMI unit 606 includes hardware (e.g., aprocessor or controller, memory, storage, etc.) and software (e.g., anoperating system, etc.) for an infotainment system (such as SYNC® andMyFord Touch® by Ford®). Additionally, the HMI unit 606 displays theinfotainment system on, for example, the display 302.

The sensors 608 are arranged in and/or around the vehicle 100 to monitorproperties of the vehicle 100 and/or an environment in which the vehicle100 is located. One or more of the sensors 608 may be mounted to measureproperties around an exterior of the vehicle 100. Additionally, oralternatively, one or more of the sensors 608 may be mounted inside acabin of the vehicle 100 or in a body of the vehicle 100 (e.g., anengine compartment, wheel wells, etc.) to measure properties in aninterior of the vehicle 100. For example, the sensors 608 includeaccelerometers, odometers, tachometers, pitch and yaw sensors, wheelspeed sensors, microphones, tire pressure sensors, biometric sensorsand/or sensors of any other suitable type.

In the illustrated example, the sensors 608 include range-detectionsensors 620. As used herein, a “range-detection sensor” refers to anelectronic device that is configured to collect information to detect apresence of and distance to nearby object(s). In the illustratedexample, the range-detection sensors 620 include proximity sensorsand/or cameras. The proximity sensors are configured to detect thepresence, proximity, and/or location of object(s) near the vehicle 100.For example, the proximity sensors include radar sensor(s), LIDARsensor(s), ultrasonic sensor(s), and/or any other sensor configured todetect the presence, proximity, and/or location of nearby object(s). Aradar sensor detects and locates an object via radio waves, a LIDARsensor detects and locates the object via lasers, and an ultrasonicsensor detects and locates the object via ultrasound waves. Further, thecameras are configured to capture image(s) and/or video of a surroundingarea of the vehicle 100 to enable nearby object(s) to be identified andlocated. In the illustrated example, the range-detection sensors 620 arelocated along the vehicle 100 to enable the range-detection sensors 620to monitor a surrounding area of the vehicle 100. For example, therange-detection sensors 620 monitor the surrounding area of the vehicle100 to enable the autonomy unit 118 to perform autonomous motivefunctions for the vehicle 100.

The output devices 610 provide an interface for the vehicle 100 topresent information to the user 112 and/or others nearby. The outputdevices 610 may include digital interface(s) and/or analog interface(s).In some examples, one or more of the output devices 610 are locatedwithin the cabin 300 of the vehicle 100. For example, the output devices610 include instrument cluster output(s) and/or the display 302.Additionally, or alternatively, one or more of the output devices 610are located along an exterior of the vehicle 100 outside of the cabin300. In the illustrated example, the output devices 610 include theheadlamps 102, the tail lamps 104, the tint module 508, the accent lamps510, a horn 622, a chirp horn 624, and speakers 626. Further, in theillustrated example, one or more of the output devices 610 areconfigured to emit an alert to the user 112 based on a current status ofRePA for the vehicle 100. For example, the headlamps 102, the tail lamps104, the tint module 508, the accent lamps 510, the horn 622, the chirphorn 624, and/or the speakers 626 are configured to emit an audio and/orvisual alert to the user 112 based on a current RePA status.

The ECUs 612 monitor and control the subsystems of the vehicle 100. Forexample, the ECUs 612 are discrete sets of electronics that includetheir own circuit(s) (e.g., integrated circuits, microprocessors,memory, storage, etc.) and firmware, sensors, actuators, and/or mountinghardware. The ECUs 612 communicate and exchange information via avehicle data bus (e.g., the vehicle data bus 614). Additionally, theECUs 612 may communicate properties (e.g., status of the ECUs 612,sensor readings, control state, error and diagnostic codes, etc.) toand/or receive requests from each other. For example, the vehicle 100may have dozens of the ECUs 612 that are positioned in various locationsaround the vehicle 100 and are communicatively coupled by the vehicledata bus 614. In the illustrated example, the ECUs 612 include theautonomy unit 118, a body control module 628, an engine control unit630, and one or more door control units 632.

The autonomy unit 118 controls performance of autonomous and/orsemi-autonomous driving maneuvers of the vehicle 100 (e.g., for remotepark-assist) based upon, at least in part, data collected by therange-detection sensors 620 of the vehicle 100. The body control module628 controls one or more subsystems throughout the vehicle 100, such asan immobilizer system, etc. For example, the body control module 628includes circuits that drive one or more of relays (e.g., to controlwiper fluid, etc.), brushed direct current (DC) motors (e.g., to controlpower seats, wipers, etc.), stepper motors, LEDs, etc. Further, theengine control unit 630 controls operation of an engine (e.g., aninternal combustion engine, an electric motor, a hybrid engine) of thevehicle 100. For example, the engine control unit 630 is configured toremote start the engine upon receiving a signal to do so.

The door control units 632 control one or more subsystems located ondoors (e.g., a driver door, a passenger door, a hatch and/or trunk,etc.) of the vehicle 100. For example, each door of the vehicle 100includes a respective one of the door control units 632. Each of thedoor control units 632 includes circuits that drive relay(s), brushed DCmotor(s), stepper motor(s), LEDs, etc. for the operation of powerwindows, power locks, power mirrors, etc. for the respective door of thevehicle 100.

In some examples, each of door control units 632 is communicativelycoupled to an electronic latch (also referred to as an e-latch) of therespective door. The e-latch is an electromechanical device thatactuates a door latch to latch and/or unlatch the door. For example, thelock state is stored in memory of one or more of the door control units632 and/or the body control module 628. Further, the e-latch is utilizedfor a remote entry system and/or a passive entry system of the vehicle100. For a remote entry system, one or more of the door control units632 instructs a respective e-latch to (1) place the latch memory in anunlock state for the respective door in response to the commandcontroller 120 receiving an unlock signal from the key fob 110 and/or(2) lock the respective door in response to the command controller 120receiving a lock signal from the key fob 110. For a passive entrysystem, one or more of the door control units 632 primes a respectivee-latch of the respective door for unlocking in response to the commandcontroller 120 detecting that the key fob 110 is located within apredetermined distance of the vehicle 100. Subsequently, the e-latchactuates a door latch to unlatch the respective door in response todetecting that a door handle of the door is being grasped by the user112. In some examples, one of the door control units 632 correspondswith a hatch and/or trunk of the vehicle 100. That one of the doorcontrol units 632 is configured to open and/or close the hatch and/ortrunk in response to the command controller 120 receiving a signal to doso from the key fob 110.

The vehicle data bus 614 communicatively couples the onboard computingplatform 602, the communication modules 604, the HMI unit 606, thesensors 608, the output devices 610, and the ECUs 612. In some examples,the vehicle data bus 614 includes one or more data buses. The vehicledata bus 614 may be implemented in accordance with a controller areanetwork (CAN) bus protocol as defined by International StandardsOrganization (ISO) 11898-1, a Media Oriented Systems Transport (MOST)bus protocol, a CAN flexible data (CAN-FD) bus protocol (ISO 11898-7)and/a K-line bus protocol (ISO 9141 and ISO 14230-1), and/or anEthernet™ bus protocol IEEE 802.3 (2002 onwards), etc. In some examples,the vehicle data bus 614 includes a wireless communication network(e.g., WiFi or Bluetooth).

FIG. 7 is a block diagram of electronic components 700 of the key fob110 (e.g., the key fob 200). In the illustrated example, the electroniccomponents 700 include a processor 702, memory 704, buttons 706, thelamp 212, an LF antenna 708, and a UHF antenna 710.

In the illustrated example, the processor 702 may be any suitableprocessing device or set of processing devices such as, but not limitedto, a microprocessor, a microcontroller-based platform, an integratedcircuit, one or more field programmable gate arrays (FPGAs), and/or oneor more application-specific integrated circuits (ASICs). The memory 704may be volatile memory (e.g., RAM including non-volatile RAM, magneticRAM, ferroelectric RAM, etc.), non-volatile memory (e.g., disk memory,FLASH memory, EPROMs, EEPROMs, memristor-based non-volatile solid-statememory, etc.), unalterable memory (e.g., EPROMs), read-only memory,and/or high-capacity storage devices (e.g., hard drives, solid statedrives, etc.). In some examples, the memory 704 includes multiple kindsof memory, particularly volatile memory and non-volatile memory.

The memory 704 is computer readable media on which one or more sets ofinstructions, such as the software for operating the methods of thepresent disclosure, can be embedded. The instructions may embody one ormore of the methods or logic as described herein. For example, theinstructions reside completely, or at least partially, within any one ormore of the memory 704, the computer readable medium, and/or within theprocessor 702 during execution of the instructions.

The buttons 706 of the illustrated example are input devices that areconfigured to receive input information from the user 112 of the vehicle100. For example, one or more of the buttons 706 are configured toreceive requests for remote entry, remote start, unlocking and/orlocking a door, opening and/or closing a hatch and/or trunk, emitting analert, opening and/or closing a door window, remote park-assist, etc. Inthe illustrated example, the buttons 706 include the unlock button 202,the lock button 204, the trigger button 206, the hatch button 208, andthe alert button 210. Further, the lamp 212 (e.g., an LED) of theillustrated example is an output device that is configured to provideoutput information to the user 112 of the vehicle 100. For example, thelamp 212 is configured to provide output information regarding remoteentry, remote start, unlocking and/or locking a door, opening and/orclosing a hatch and/or trunk, emitting an alert, opening and/or closinga door window, remote park-assist, etc.

The LF antenna 708 of the illustrated example includes hardware (e.g.,processors, memory, storage, antenna, etc.) and software to communicatevia LF signals (e.g., 125 kHz to 134.5 kHz, etc.). For example, the LFantenna 708 is configured to receive a beacon message that istransmitted by one or more of the LF modules 106 of the vehicle 100.Further, the processor 702 is configured to identify a distance that thebeacon message has traveled based on characteristics of the beaconmessage.

The UHF antenna 710 of the illustrated example is configured to includehardware and software to communicate via ultra-high frequency (UHF)signals and/or other medium-frequency signals (e.g., 314 MHz to 904 MHz,etc.). For example, the UHF antenna 710 is configured to transmit areturn signal to the receiver-transceiver module 108 of the vehicle 100.In some examples, the processor 702 includes a corresponding distanceindicator (e.g., a received signal strength indicator) in the returnsignal to enable the receiver-transceiver module 108 to identify thedistance between the vehicle 100 and the key fob 110. Further, the UHFantenna 710 is configured to transmit an unlock signal, a lock signal, aremote start signal, a RePA signal, and/or any other signal thatcorresponds with a predefined sequence of fob buttons (e.g., the buttons202, 204, 206, 208, 210) pressed by the user 112.

Further, in some examples, the electronic components 700 of the key fob110 also include a BLE antenna 712 to enable the key fob 110 tocommunicate with the vehicle 100 via BLE communication. For example, theBLE antenna 712 includes hardware and software to communicate via BLEsignals. In such examples, the BLE antenna 712 is configured to transmitan unlock signal, a lock signal, a remote start signal, a RePA signal,and/or any other signal that corresponds with a predefined sequence offob buttons (e.g., the buttons 202, 204, 206, 208, 210) pressed by theuser 112. Further, in some examples, UWB or Wi-Fi communication andtime-of-flight methodologies are utilized in lieu of or in addition toBLE communication for estimating a distance between the key fob 110 andthe vehicle 100. Additionally, or alternatively, BLE communication andtime-of-flight methodologies (e.g., instead of received signal strengthindicators) are implemented by the key fob 110 and the vehicle 100 todetermine the distance between the two.

FIG. 8 is a flowchart of an example method 800 to initiate remotepark-assist for a vehicle via a key fob. The flowchart of FIG. 8 isrepresentative of machine readable instructions that are stored inmemory (such as the memory 618 of FIG. 6 and/or the memory 704 of FIG.7) and include one or more programs which, when executed by a processor(such as the processor 616 of FIG. 6 and/or the processor 702 of FIG.7), cause the key fob 110 and/or the vehicle 100 to perform the method800. While the example program is described with reference to theflowchart illustrated in FIG. 8, many other methods for initiatingremote park-assist and other vehicle functions via a key fob mayalternatively be used. For example, the order of execution of the blocksmay be rearranged, changed, eliminated, and/or combined to perform themethod 800. Further, because the method 800 is disclosed in connectionwith the components of FIGS. 1-7, some functions of those componentswill not be described in detail below.

Initially, at block 802, the command controller 120 determines whetherthe user 112 has selected to activate RePA. For example, the commandcontroller 120 receives a selection from the user 112 to activate RePAfrom the HMI unit 606 of the vehicle 100 or a mobile device. In responseto the command controller 120 determining that activation of RePA hasnot been selected, the method 800 returns to block 802. Otherwise, inresponse to the command controller 120 determining that activation ofRePA has been selected, the method 800 proceeds to block 804.

At block 804, the command controller 120 receives a selection of aremote device that is to be used by the user 112 for sending RePAsignals to the vehicle 100 from a remote location. That is, the commandcontroller 120 receives a selection of which mobile device or key fob(e.g., the key fob 110) is to be utilized for initiating RePA functions.For example, the command controller 120 receives a selection of theremote device from the HMI unit 606 of the vehicle 100. At block 806,the command controller 120 determines whether the key fob 110 of theuser 112 was selected to be utilized as a backup RePA device. Inresponse to the command controller 120 determining that the key fob 110was not selected (e.g., that the mobile device of the user 112 wasselected), the method 800 proceeds to block 810. Otherwise, in responseto the command controller 120 determining that the key fob 110 wasselected, the method proceeds to block 808 at which the HMI unit 606(e.g., the display 302) presents instructions that inform the user 112as to how to utilize the key fob 110 to send RePA signals via the keyfob 110. In some examples, the command controller 120 causes theinstructions to be sent to a mobile device of the user 112.

At block 810, the command controller 120 determines whether the key fob110 of the user 112 is located within the cabin 300 of the vehicle 100.For example, the command controller 120 determines whether the key fob110 is in the cabin 300 based on a distance indicator (e.g., a receivedsignal strength indicator) that is determined based on communicationbetween the vehicle 100 and the key fob 110. In response to the commandcontroller 120 determining that the key fob 110 is located in the cabin300, the method proceeds to block 812 at which the command controller120 disables RePA while the key fob 110 remains in the cabin 300.Otherwise, in response to the command controller 120 determining thatthe key fob 110 is not located in the cabin 300, the method proceeds toblock 814 at which the command controller 120 enables RePA to beperformed. For example, the command controller 120 enables RePA to beperformed in response to determining that the key fob 110 is within thetethering range 122 outside the cabin 300 of the vehicle 100.

At block 816, the command controller 120 determines whether a RePAsignal has been received from the key fob 110. For example, thereceiver-transceiver module 108, the communication module 114, and/orthe antenna modules 116 of the vehicle 100 receive the RePA signal fromthe key fob 110. In response to the command controller 120 determiningthat a RePA signal has not been received, the method 800 returns toblock 810. Otherwise, in response to the command controller 120determining that a RePA signal has been received, the method 800proceeds to block 818.

At block 818, the command controller 120 determines whether an alertcondition for RePA is present. For example, the command controller 120detects an alert condition for RePA in response to (1) verifying that atransmission of the vehicle 100 is in park, (2) identifying that anignition is activated upon determining that the ignition was inactive,(3) identifying that an engine is activated upon determining that theengine was inactive, (4) identifying that a steering column is unlockedupon determining that the steering column was locked, (5) identifyingthat RePA initiation was performed, (6) identifying that RePA initiationwas unable to be performed, (7) identifying that RePA cancelation wasperformed, (8) identifying that RePA cancelation was unable to beperformed, (9) identifying that the key fob 110 is being utilized as abackup RePA device, (10) detecting the presence of an object (e.g., theuser 112) along a projected travel path of the vehicle, (11) detectingan attempt to initiate RePA from within the cabin 300 of the vehicle100, (12) detecting that a vehicle door is open, (13) detecting that abrake pedal has been pressed, (14) detecting that an acceleration pedalhas been pressed, (15) detecting that movement of a steering wheel hasbeen obstructed, etc. In response to the command controller 120determining that an alert condition for RePA is not present, the method800 proceeds to block 820 at which the autonomy unit 118 autonomouslyperforms a motive function for RePA based on the received RePA signal.Otherwise, in response to the command controller 120 determining that analert condition for RePA is present, the method 800 proceeds to block822 at which the command controller 120 emits an alert to the user 112via one or more of the output devices 610 of the vehicle 100 and/or oneor more output devices of the key fob 110 (e.g., the lamp 212).

At block 824, the command controller 120 determines whether a RePAsession for the vehicle 100 is complete. For example, the commandcontroller 120 determines that the RePA session is complete in responseto (1) receiving an end-RePA signal from the key fob 110 and/or (2) notreceiving a RePA signal for at least a predefined period of time. Inresponse to the command controller 120 determining that the RePA sessionis not complete, the method 800 returns to block 810. Otherwise, inresponse to the command controller 120 determining that the RePA sessionis complete, the method 800 proceeds to block 826 at which the commandcontroller 120 disables RePA. Upon completing block 826, the method 800ends.

An example disclosed vehicle includes a cabin, a human-machine interface(HMI) unit located in the cabin, and a receiver-transceiver module. Thereceiver-transceiver module is configured to receive a return signalincluding a distance indicator from a key fob and a remote park-assist(RePA) signal. The example disclosed vehicle also includes an autonomyunit configured to perform RePA based on the RePA signal. The exampledisclosed vehicle also includes a controller configured to receive, viathe HMI unit, selections to activate RePA and utilize the key fob fortransmitting the RePA signal and determine, based on the distanceindicator, whether the key fob is in the cabin. The controller also isconfigured to, responsive to determining that the key fob is in thecabin, prevent the autonomy unit from performing RePA.

Some examples further include a low-frequency (LF) module to transmit abeacon. In some such examples, the receiver-transceiver module isconfigured to receive the return signal upon the LF module transmittingthe beacon.

In some examples, the controller is configured to enable the autonomyunit to perform RePA responsive to determining that the key fob iswithin a predefined tethering distance outside the cabin. In some suchexamples, when RePA is enabled, the autonomy unit is configured toperform RePA based on the RePA signal.

In some examples, the HMI unit includes a display that is configured topresent instructions for utilizing the key fob for RePA responsive tothe controller receiving the selection to utilize the key fob fortransmitting the RePA signal. In some such examples, the instructionspresented via the display identify button combinations of the key fobfor initiating a forward motion, initiating a reverse motion, anddeactivating RePA. In some such examples, the display is configured topresent an alert based on a RePA status. In some such examples, thedisplay includes a touchscreen. Further, in some such examples, thecontroller is configured to receive the selections via the touchscreen.

In some examples, the controller is configured to emit an audio alertbased on a RePA status via at least one of a horn, a chirp horn, and aspeaker. In some examples, the controller is configured to emit a visualalert based on a RePA status via exterior lamps. In some such examples,the exterior lamps include accent lamps and the visual alert includes ananimated alert. In some examples, the controller is configured to sendan instruction to the key fob to emit an alert via an LED of the keyfob.

Some examples further include a driver's door that includes anelectrochromic window. In some such examples, the controller isconfigured to de-tint the electrochromic window when RePA is initiated.

An example disclosed method for initiating remote park-assist (RePA) fora vehicle includes receiving, via a human-machine interface (HMI) unitlocated in a cabin, selections to activate RePA and utilize a key fobfor transmitting a RePA signal. The example disclosed method alsoincludes receiving, via a receiver-transceiver module, a return signalfrom the key fob and identifying, via a processor, a distance indicatorwithin the return signal. The example disclosed method also includesdetermining, via the processor, whether the key fob is in the cabinbased on the distance indicator and preventing an autonomy unit fromperforming RePA responsive to determining that the key fob is in thecabin.

Some examples further include transmitting a beacon via a low-frequency(LF) module to prompt the key fob to transmit the return signal. Someexamples further include enabling the autonomy unit to perform RePAresponsive to determining that the key fob is within a predefinedtethering distance outside the cabin and performing RePA via theautonomy unit based on the RePA signal when RePA is enabled. Someexamples further include, responsive to the controller receiving theselection to utilize the key fob, presenting instructions via a displayof the HMI unit for utilizing the key fob for RePA.

In this application, the use of the disjunctive is intended to includethe conjunctive. The use of definite or indefinite articles is notintended to indicate cardinality. In particular, a reference to “the”object or “a” and “an” object is intended to denote also one of apossible plurality of such objects. Further, the conjunction “or” may beused to convey features that are simultaneously present instead ofmutually exclusive alternatives. In other words, the conjunction “or”should be understood to include “and/or”. The terms “includes,”“including,” and “include” are inclusive and have the same scope as“comprises,” “comprising,” and “comprise” respectively. Additionally, asused herein, the terms “module” and “unit” refer to hardware withcircuitry to provide communication, control and/or monitoringcapabilities. A “module” and a “unit” may also include firmware thatexecutes on the circuitry.

The above-described embodiments, and particularly any “preferred”embodiments, are possible examples of implementations and merely setforth for a clear understanding of the principles of the invention. Manyvariations and modifications may be made to the above-describedembodiment(s) without substantially departing from the spirit andprinciples of the techniques described herein. All modifications areintended to be included herein within the scope of this disclosure andprotected by the following claims.

1. A vehicle comprising: a cabin; a human-machine interface (HMI) unitlocated in the cabin; a receiver-transceiver module configured toreceive: a return signal including a distance indicator from a key fob;and a remote park-assist (RePA) signal; an autonomy unit configured toperform RePA based on the RePA signal; and a controller configured to:receive, via the HMI unit, a selection to activate RePA; receive, viathe HMI unit, a selection of a remote device to be used for initiatingRePA; determine, via the controller, that the key fob is not selectedfor initiating RePA; determine, based on the distance indicator, whetherthe key fob is in the cabin; and responsive to determining that the keyfob is not in the cabin, enable the autonomy unit to perform RePA. 2.The vehicle of claim 1, wherein the autonomy unit is disabled fromperforming RePA if the key fob is in the cabin.
 3. The vehicle of claim1, wherein the controller is further configured to enable the autonomyunit to perform RePA responsive to determining that the key fob iswithin a predefined tethering distance outside the cabin.
 4. The vehicleof claim 1, wherein the controller is further configured to: responsiveto receiving a RePA signal, determine if an alert condition for RePA ispresent.
 5. The vehicle of claim 4, wherein the alert conditioncomprises at least one of: verifying that a transmission of the vehicleis in park; identifying that an ignition of the vehicle is activatedresponsive to determining that the ignition was inactive; identifyingthat an engine of the vehicle is responsive to determining that theengine was inactive; identifying that an steering column is unlockedresponsive to determining that the steering column was locked; andidentifying that RePA initiation was performed.
 6. The vehicle of claim4, wherein the alert condition comprises at least one of: identifyingthat RePA initiation was unable to be performed; identifying that RePAcancellation was performed; identifying that RePA cancellation wasunable to be performed; identifying that the key fob is being utilizedas a backup RePA device; and detecting the presence of a person or anobject along a projected travel path of the vehicle.
 7. The vehicle ofclaim 4, wherein the alert condition comprises at least one of:detecting an attempt to initiate RePA from within the cabin; detectingthat a vehicle door is open; detecting that a brake pedal has beenpressed; detecting that an acceleration pedal has been pressed; anddetecting that movement of a steering wheel has been obstructed.
 8. Thevehicle of claim 4, wherein the controller is further configured to:responsive to determining that no alert condition is present, perform,via the autonomy unit, a motive function for RePA based on the receivedRePA signal.
 9. The vehicle of claim 8, wherein the controller isfurther configured to: determine that a RePA session is complete basedat least in part on an end-RePA signal being received or a RePA signalnot being received for at least a predetermined period of time; anddisable, via the controller, RePA.
 10. The vehicle of claim 4, whereinthe controller is further configured to: responsive to determining thatan alert condition is present, emit an alert through at least one outputdevice of the vehicle or at least one output device of the key fob. 11.A method for initiating remote park-assist (RePA) for a vehicle, themethod comprising: receiving, via a human-machine interface (HMI) unitlocated in a cabin, a selection to activate RePA; receiving, via the HMIunit, a selection of a remote device to be used for initiating RePA;determining, via a controller, that the key fob is not selected forinitiating RePA; receiving, via a receiver-transceiver module, a returnsignal from the key fob; identifying, via a processor, a distanceindicator within the return signal; determining, via the processor,whether the key fob is in the cabin based on the distance indicator; andenabling an autonomy unit to perform RePA responsive to determining thatthe key fob is not in the cabin.
 12. The method of claim 11, wherein theautonomy unit is disabled from performing RePA if the key fob is in thecabin.
 13. The method of claim 11, further comprising: enabling theautonomy unit to perform RePA responsive to determining that the key fobis within a predefined tethering distance outside the cabin.
 14. Themethod of claim 11, further comprising: responsive to receiving a RePAsignal, determining if an alert condition for RePA is present.
 15. Themethod of claim 14, wherein the alert condition comprises at least oneof: verifying that a transmission of the vehicle is in park; identifyingthat an ignition of the vehicle is activated responsive to determiningthat the ignition was inactive; identifying that an engine of thevehicle is responsive to determining that the engine was inactive;identifying that an steering column is unlocked responsive todetermining that the steering column was locked; and identifying thatRePA initiation was performed.
 16. The method of claim 14, wherein thealert condition comprises at least one of: identifying that RePAinitiation was unable to be performed; identifying that RePAcancellation was performed; identifying that RePA cancellation wasunable to be performed; identifying that the key fob is being utilizedas a backup RePA device; and detecting the presence of a person or anobject along a projected travel path of the vehicle.
 17. The method ofclaim 14, wherein the alert condition comprises at least one of:detecting an attempt to initiate RePA from within the cabin; detectingthat a vehicle door is open; detecting that a brake pedal has beenpressed; detecting that an acceleration pedal has been pressed; anddetecting that movement of a steering wheel has been obstructed.
 18. Themethod of claim 14, further comprising: responsive to determining thatno alert condition is present, performing, via the autonomy unit, amotive function for RePA based on the received RePA signal.
 19. Themethod of claim 18, further comprising: determining that a RePA sessionis complete based at least in part on an end-RePA signal being receivedor a RePA signal not being received for at least a predetermined periodof time; and disabling, via the controller, RePA.
 20. The method ofclaim 14, further comprising: responsive to determining that an alertcondition is present, emitting an alert through at least one outputdevice of the vehicle or at least one output device of the key fob.